Parents having issues with friends (+LGBTQ/'different' people)

I've been sitting with this on my shoulders for a very long time now and I really want to speak to one of my friends about this but I seriously do not know how to bring this up without hurting anyone in the process. Alot of my friends are from the LGBTQ community but my parents have been constantly making extremely hurtful and hateful comments about members of the LGBTQ community, people with coloured hair and people who dress differently (y'all rock, by the way) and dont attempt to understand said people.

A few months back I took one of my friends, who is trans to an event. My parents drove us to said event and we drove past someone in a gorgeous dress and my parents made a comment about that and eventually said "oh never mind, its a man." I had to sincerely apologize to my friend after that.

Yesterday we had yet another event and my dad was picking me up from the event. There were alot of people dressed up, wearing unique outfits and ofcourse alot of people had coloured hair. Apparently my dad wanted to take photos of the people that were leaving the event. He said alot of hurtful stuff about the type of people that left the event and downright made fun of everyone and made alot of hurtful comments on the way back home. But apparently also brought it up at their work today. This genuinely hurts me alot because majority of my friends aren't considered 'normal' and neither am I.

A few of my friends are slightly aware of my parents actions and behaviour and I feel extremely bad because I've been meaning to invite a few over but I am honestly embarrassed of my parents and I dont want any of my friends to get hurt in the process and lose out on a few friends too.

I honestly do not know what to do as my parents have been nearly begging me to invite them over to get to know them better so they can allow me to do more stuff with them abroad and such. I feel super restricted at the moment and I do not know what to do.

I probably sound like your typical 'oh I hate my parents so much' teenager right now and I sincerely apologize if I do. I really love my parents, I truly do. But I'm slowly losing my respect for them over time because of their comments, though.